...Hajar Atrianfar; Mohammad Haeri As Olfati Saber proved in Ref. [ 24 ], for the group of agents consisting a dynamic flock for all t ≥ 0 , G ( q ) is a connected graph for all t ≥ 0 . Thus, based on the result of LaSalle's invariance principle, he concluded...

... flocking velocity. Note that for the flocking problem, all agents will reach the same velocity v r , while the position of each agent should be confined in the cohesive ball but free to move inside the ball. where P is the solution of a Riccati equation, which will be shown...

... is located on the median of uninformed agents' initial positions. The standard deviation and the desired square are calculated based on this coordinate system. Note 2. The virtual leader has two phase of mobility; one before forming a quasi-flock and the other after its formation. In the first phase...

... conditions. (b) λ can be compute in term of the algorithm's coefficients c 1 , c 2 , h 1 , and h 2 and number of agents N . Theorem 1. The proposed algorithm in Eq. (12) can solve the flocking problem in a network...